From 0087317b6f69f063c5055bf66d57dda174b01304 Mon Sep 17 00:00:00 2001
From: Peter Corke <peter.i.corke@gmail.com>
Date: Sun, 5 Jul 2026 17:17:23 +1000
Subject: [PATCH] fix(models): remove FetchCamera, not used in RVC3 and its
 URDF is unshippable
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FetchCamera.py pointed at "fetch_description/robots/fetch_camera.urdf",
which doesn't exist in either the bundled rtb-data xacro tree (no
fetch_description folder at all) or robot_descriptions' fetch_description
package (only ships fetch.urdf, the file Fetch.py uses) — always raised
FileNotFoundError. Unlike Valkyrie/Fetch, there's no upstream file to
patch here; the referenced asset was simply never shipped anywhere.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
---
 .../models/URDF/FetchCamera.py                | 63 -------------------
 src/roboticstoolbox/models/URDF/__init__.py   |  2 -
 2 files changed, 65 deletions(-)
 delete mode 100644 src/roboticstoolbox/models/URDF/FetchCamera.py

diff --git a/src/roboticstoolbox/models/URDF/FetchCamera.py b/src/roboticstoolbox/models/URDF/FetchCamera.py
deleted file mode 100644
index 0d6f835b8..000000000
--- a/src/roboticstoolbox/models/URDF/FetchCamera.py
+++ /dev/null
@@ -1,63 +0,0 @@
-#!/usr/bin/env python
-
-import numpy as np
-from roboticstoolbox.models.URDF.URDFRobot import URDFRobot
-
-# from spatialmath import SE3
-
-
-class FetchCamera(URDFRobot):
-    """
-    Class that imports a FetchCamera URDF model
-
-    ``FetchCamera()`` is a class which imports a FetchCamera robot definition
-    from a URDF file.  The model describes its kinematic and graphical
-    characteristics.
-
-    .. runblock:: pycon
-
-        >>> import roboticstoolbox as rtb
-        >>> robot = rtb.models.URDF.FetchCamera()
-        >>> print(robot)
-
-    Defined joint configurations are:
-
-    - qz, zero joint angle configuration
-    - qr, zero joint angle configuration
-
-    .. codeauthor:: Kerry He
-    .. sectionauthor:: Peter Corke
-    """
-
-    def __init__(self):
-        super().__init__(
-            "fetch_description/robots/fetch_camera.urdf",
-            manufacturer="Fetch",
-            gripper_link_index=6,
-        )
-
-        # self.grippers[0].tool = SE3(0, 0, 0.1034)
-        self.qdlim = np.array([4.0, 4.0, 0.1, 1.57, 1.57])
-
-        self.qz = np.array([0, 0, 0, 0, 0])
-        self.qr = np.array([0, 0, 0, 0, 0])
-
-        self.addconfiguration("qr", self.qr)
-        self.addconfiguration("qz", self.qz)
-
-
-if __name__ == "__main__":  # pragma nocover
-    robot = FetchCamera()
-    print(robot)
-
-    for link in robot.links:
-        print(link.name)
-        print(link.isjoint)
-        print(len(link.collision))
-
-    print()
-
-    for link in robot.grippers[0].links:
-        print(link.name)
-        print(link.isjoint)
-        print(len(link.collision))
diff --git a/src/roboticstoolbox/models/URDF/__init__.py b/src/roboticstoolbox/models/URDF/__init__.py
index 071c9e5d4..dd182b20d 100644
--- a/src/roboticstoolbox/models/URDF/__init__.py
+++ b/src/roboticstoolbox/models/URDF/__init__.py
@@ -20,7 +20,6 @@
 from roboticstoolbox.models.URDF.KinovaGen3 import KinovaGen3
 from roboticstoolbox.models.URDF.YuMi import YuMi
 from roboticstoolbox.models.URDF.Fetch import Fetch
-from roboticstoolbox.models.URDF.FetchCamera import FetchCamera
 from roboticstoolbox.models.URDF.Valkyrie import Valkyrie
 from roboticstoolbox.models.URDF.AL5D import AL5D
 
@@ -47,7 +46,6 @@
     "KinovaGen3",
     "YuMi",
     "Fetch",
-    "FetchCamera",
     "Valkyrie",
     "AL5D",
 ]